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RoboTeam_RRT*_Gui.py
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RoboTeam_RRT*_Gui.py
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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Created on Sat Sep 21 14:48:16 2019
@author: zoe
"""
"""
#import matplotlib
from tkinter import *
main=Tk()
main.title('RoboTeam_RRT_GUI') #renames the title of the main window
mainFrame= Frame(main)
mainFrame.pack()
"""
import numpy as np
import random, math
import pygame.locals
import pygame.draw
#Linked List class
class Node():
def __init__(self,location,parent,cost):
self.location = location
self.parent= parent
self.cost = cost
#Class for the rectangular boundaries in the map
class Boundaries():
def __init__(self,x1,y1,x2,y2):
self.x1 = x1
self.y1 = y1
self.x2 = x2
self.y2 = y2
#RRT Graph Class
class RRT_Star():
def __init__(self,start,end,min_length,max_length,node_number,boundaries,r):
self.start= Node(start, None,0)
self.end=end
self.min_length = min_length #min length between 2 nodes
self.max_length=max_length #max lengh between 2 nodes
self.node_number = node_number #max number of nodes in a tree
self.screen_size=(800,800) #size of the popup screen (pygame)
self.color = (255,255,0) #endpoint color
self.color1 = (0,0,255) #startpoint color
self.colorRect= (255,0,255) #color of the rectangular buondaries
self.radius = 10 #radius of the circle surrounding the startpoint and the endpoint
self.nodes = [] #list of the Nodes()
self.nodes.append(self.start) #adds the starting node into the Node list
self.boundaries = boundaries
#self.node_dict = {start:0} #dictionary containing the ndoes and their "cost, or distance from the startpoint"
self.r = r #radius of the circle for RRT*
self.shortest = float('inf')
def dist(self,p1,p2):
return math.sqrt((p2[0]-p1[0])**2 + (p2[1]-p1[1])**2)
def find_closest(self, p1):
closest = self.nodes[0]
for node in self.nodes:
if self.dist(node.location,p1) < self.dist(closest.location,p1):
closest = node
return closest
def isValid(self,p1):
for i in self.boundaries:
if (p1[0] > i.x1 and p1[0] < i.x2) and (p1[1] > i.y1 and p1[1] < i.y2):
return False
return True
def new_node(self):
x = int(random.randint(0,self.screen_size[0]+1))
y= int(random.randint(0,self.screen_size[1]+1))
nn=(x,y)
closest = self.find_closest(nn)
if self.dist(closest.location,nn) > self.max_length:
length = self.dist(closest.location,nn)
x = closest.location[0]+int(self.max_length*(x-closest.location[0])/length)
y = closest.location[1]+int(self.max_length*(y-closest.location[1])/length)
nn=(x,y)
closest = self.find_closest(nn)
if self.dist(closest.location,nn) < self.min_length:
length = self.dist(closest.location,nn)
while length == 0:
nn = self.new_node()
x = closest.location[0]+int(self.min_length*(x-closest.location[0])/length)
y = closest.location[1]+int(self.min_length*(y-closest.location[1])/length)
if not self.isValid(nn):
closest,nn = self.new_node()
return closest,nn
def find_cheapest(self, p1):
close_nodes=[]
for node in self.nodes:
if self.dist(node.location,p1) <= self.r:
close_nodes.append(node)
cheapest = close_nodes[0]
for node in close_nodes:
if (self.dist(node.location,p1) + node.cost) < (self.dist(cheapest.location, p1) + cheapest.cost):
cheapest = node
return cheapest
def rewire(self,new_node):
close_nodes=[]
for node in self.nodes:
if self.dist(node.location,new_node.location) <= self.r:
close_nodes.append(node)
for node in close_nodes:
if (node.cost > new_node.cost+ self.dist(new_node.location,node.location)):
node.parent = new_node
def main(self):
pygame.init()
#sets screen size
screen = pygame.display.set_mode(self.screen_size)
#sets the title of the screen
pygame.display.set_caption("RRT* Algorithm")
#filles the screen with the color white
white = (255,255,255)
screen.fill(white)
#draws a circle around the startpoint
pygame.draw.circle(screen,self.color1,self.start.location,self.radius)
#draws a circle around the endpoint
pygame.draw.circle(screen, self.color, self.end, 5*self.radius)
for i in self.boundaries:
pygame.draw.rect(screen,self.colorRect,pygame.Rect(i.x1,i.y1,abs(i.x2-i.x1),abs(i.y2-i.y1)))
current = self.start
for n in range(self.node_number):
closest, nn = self.new_node() #returns a valid new node and the closest node to it
cheapest = self.find_cheapest(nn)
recent=Node(nn, cheapest, cheapest.cost+self.dist(nn,cheapest.location))
self.nodes.append(recent)
self.rewire(recent)
red = (255,0,0)
pygame.draw.circle(screen,red,nn,3)
pygame.draw.line(screen,red,cheapest.location,nn,2)
#green = (0,255,0)
#pygame.draw.line(screen,green,nn,closest.location,2)
#updates the screen when you add a new node
pygame.display.update()
if (self.dist(nn,self.end) <= 5*self.radius) and recent.cost < self.shortest:
print("DONE")
print(recent.cost)
self.shortest = recent.cost
while current != self.start:
pygame.draw.line(screen,(255,0,0),current.parent.location,current.location,2)
current = current.parent
current = recent
while current != self.start:
pygame.draw.line(screen,(0,255,0),current.parent.location,current.location,2)
current = current.parent
pygame.display.update()
if (pygame.event.poll().type == pygame.QUIT):
break
while True:
# gets a single event from the event queue
event = pygame.event.poll()
# if the 'close' button of the window is pressed
if event.type == pygame.QUIT:
# stops the application
#print(self.node_dict)
break
if __name__ == '__main__':
boundaries = [Boundaries(100,100,200,200), Boundaries(101,202,303,404)]
RRT_Star((375,375),(600,600),5,20,500,boundaries,30).main()